CN114932550A - Motion control method and motion control device of electric power wire-removing robot - Google Patents
Motion control method and motion control device of electric power wire-removing robot Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
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Abstract
The invention provides a motion control method and a motion control device of an electric power wire-disconnecting robot, wherein the control method comprises the following steps: acquiring a composite tracking error of the electric power line-changing robot according to the position limitation condition of the electric power line-changing robot; designing an unknown dynamic compensator according to the position, the movement speed and the tracking error of the electric power line-changing robot, and acquiring an estimated value of unknown dynamics according to the unknown dynamic compensator; designing a tracking controller according to the composite tracking error and the estimation value of unknown dynamics; and taking the output of the tracking controller as the input force in the advancing direction of the power line-disconnecting robot. According to the invention, by estimating the unknown dynamic state of the electric power wire-changing robot, the friction force and the gravity can be effectively compensated, so that the motion control precision of the electric power wire-changing robot is improved, the adverse effect of external disturbance can be overcome, and the position of the electric power wire-changing robot can be ensured to accurately track the given position.
Description
Technical Field
The invention relates to the technical field of power systems, in particular to a motion control method of an electric power wire-removing robot and a motion control device of the electric power wire-removing robot.
Background
With the annual increase of the demand of electric power, the domestic power grid has a huge number of old lines and damaged lines, which endanger the safe operation of the power system and also cause severe social influence. If the old line of the power grid is dismantled and transformed only by manpower, the time and the labor are consumed, and the life and the work of people around the electric wire are influenced. Therefore, the intelligent electric power line-changing robot for the overhead line is derived, replaces manual work and existing semi-automatic equipment, and can automatically move to the position of the tower on the other side from the tower on one side along the overhead line and be fastened. And when the crane travels along the line, construction operations such as partial line dismantling and line changing are completed.
The most basic function of the electric power wire-detaching and replacing robot is wire climbing (wire hanging), and if no proper wire hanging advancing speed control strategy is adopted, the advancing stability of the wire-detaching and replacing construction robot is influenced, and further the working efficiency of the wire-detaching and replacing construction robot is influenced.
In the related art, the electric power wire-removing robot generally performs wire-hanging travel speed control at a fixed speed. In the process of the line-hanging travelling of the robot body, the travelling speed and the moment of the motor are influenced by factors such as the inclination, the swing amplitude and the frequency of a cable and environmental influences (such as wind blowing).
Disclosure of Invention
In order to solve the above technical problems, a first object of the present invention is to provide a motion control method for an electric power wire-removing robot.
The second purpose of the invention is to provide a motion control device of the electric power wire-removing robot.
The technical scheme adopted by the invention is as follows:
an embodiment of the first aspect of the present invention provides a motion control method for an electric power wire-disconnecting robot, including the following steps: acquiring a composite tracking error of the electric power line-changing robot according to the position limitation condition of the electric power line-changing robot; designing an unknown dynamic compensator according to the position, the movement speed and the tracking error of the electric power line-changing robot, and acquiring an estimated value of unknown dynamic according to the unknown dynamic compensator; designing a tracking controller according to the composite tracking error and the estimation value of the unknown dynamic state; and controlling the power line-changing robot by taking the output of the tracking controller as the input force in the advancing direction of the power line-changing robot.
The motion control method of the power line-changing robot provided by the invention can also have the following additional technical characteristics:
according to an embodiment of the present invention, the composite tracking error of the power line-disconnecting robot is obtained according to the following formula:
where r is the composite tracking error, p is a constant greater than 0, e 1 Tracking error of position of robot for power disconnecting and changing line, e 2 For speed tracking error of power-line-changing robot, k b The difference value of the upper bound of the movement position of the power line-changing robot and the upper bound of the reference position signal is obtained.
According to one embodiment of the invention, the unknown dynamic compensator is designed using the following formula:
wherein ,
for an estimate of said unknown dynamics, k e V is the motion speed of the power line-stripping robot, q and n are respectively a first design parameter and a second design parameter which are greater than 0, tanh (e) 1 ) The tangent value of the tracking error of the position of the power disconnecting and switching robot. .
According to one embodiment of the invention, the tracking controller is designed with the following formula:
wherein u is the output of the tracking controller, m is the mass of the power line-changing robot,
is the acceleration of the reference position of the power disconnecting and switching robot, j is a controller parameter, p is a constant larger than 0,
for an estimate of said unknown dynamics, e 1 And (3) the tracking error of the position of the power line disconnecting and changing robot is shown, and r is the composite tracking error.
An embodiment of a second aspect of the present invention provides a motion control apparatus of an electric power wire-disconnecting robot, including: the first acquisition module is used for acquiring a composite tracking error of the electric power line-disconnecting robot according to the position limitation condition of the electric power line-disconnecting robot; the second acquisition module is used for designing an unknown dynamic compensator according to the position, the movement speed and the tracking error of the electric power line-changing robot and acquiring an estimated value of unknown dynamic according to the unknown dynamic compensator; a design module for designing a tracking controller based on the composite tracking error and the estimated value of the unknown dynamics; and the control module is used for controlling the electric power wire-removing robot by taking the output of the tracking controller as the input force in the advancing direction of the electric power wire-removing robot.
The motion control device of the power line-disconnecting robot provided by the invention can also have the following additional technical characteristics:
according to an embodiment of the present invention, the first obtaining module obtains the composite tracking error of the power disconnecting line robot specifically according to the following formula:
where r is the composite tracking error, p is a constant greater than 0, e 1 Tracking error of position of robot for power disconnecting and changing line, e 2 For speed tracking error of power-line-changing robot, k b And the difference value of the upper bound of the motion position of the power line-changing robot and the upper bound of the reference position signal is obtained.
According to an embodiment of the present invention, the second obtaining module specifically adopts the following formula to design the unknown dynamic compensator:
wherein ,
for an estimate of said unknown dynamics, k e V is the movement speed of the power line-changing robot, q and n are respectively a first design parameter and a second design parameter which are more than 0, tanh (e) 1 ) The tangent value of the tracking error of the position of the power disconnecting and switching robot.
According to an embodiment of the invention, the design module designs the tracking controller specifically using the following formula:
wherein u is the output of the tracking controller, m is the mass of the power line-changing robot,
acceleration of reference position for power take-off and take-over robot, j is controller parameterA number, p is a constant greater than 0,
for an estimate of said unknown dynamics, e 1 For the tracking error of the position of the power line-removing and line-changing robot, r is the composite tracking error, k b And the difference value of the upper bound of the motion position of the power line-changing robot and the upper bound of the reference position signal is obtained.
The invention has the beneficial effects that:
the method can effectively compensate the friction force and the gravity by estimating the unknown dynamic state of the electric power wire-disconnecting and changing robot, thereby improving the motion control precision of the electric power wire-disconnecting and changing robot, improving the robustness of uncertain parameters without knowing accurate model parameters when designing a tracking controller, enlarging the application range and being more convenient for engineering application.
Drawings
FIG. 1 is a schematic view of a power strip robot dynamics analysis according to one embodiment of the present invention;
FIG. 2 is a flow chart of a method of motion control of a power disconnect robot in accordance with one embodiment of the present invention;
fig. 3 is a block diagram illustrating a motion control apparatus of a power line-disconnecting robot according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
The present inventors have made a study and recognition of the following problems:
as shown in fig. 1, 10 is an electric power line-disconnecting robot, 20 is an electric wire, fv is a friction force of the electric power line-disconnecting robot, mg is a gravity force of the electric power line-disconnecting robot, and a mathematical model of the electric power line-disconnecting robot is obtained through a dynamic analysis of the electric power line-disconnecting robot as follows:
wherein m is the mass of the power wire-removing and wire-replacing robot, h is the friction coefficient of the power wire-removing and wire-replacing robot, h is an unknown parameter, and g (theta) is the gravity borne by the power wire-removing and wire-replacing robot, and the size of the gravity wire-removing and wire-replacing robot is determined by the angle theta between the electric wire and the gravity direction and is also unknown. u is the force applied in the forward direction of the robot and d is the external disturbance. x is the movement position of the robot,
is the acceleration of motion. If x is able to track a given position value x d And the position tracking error of the robot is ensured to be within a bounded range.
Fig. 2 is a flowchart of a motion control method of the power line-disconnecting robot according to an embodiment of the present invention, as shown in fig. 2, the method including the steps of:
and S1, acquiring the composite tracking error of the electric power line-changing robot according to the position limitation condition of the electric power line-changing robot.
The position-limited condition may include a difference k between an upper bound of the power-line-switching robot motion position and an upper bound of the reference position signal b 。
Further, according to an embodiment of the present invention, the composite tracking error of the power disconnecting line robot may be obtained according to the following formula:
wherein r is a complexTracking error, p is a constant greater than 0, and p can be obtained in advance according to relevant experiments, and p is 2, e can be taken 1 Tracking error of position of robot for power disconnecting and changing line, e 2 Speed tracking error, k, for electric line-changing robots b The difference value of the upper bound of the movement position of the power line-changing robot and the upper bound of the reference position signal is obtained. The position is the angle of the motor of the electric wire-removing robot.
And S2, designing an unknown dynamic compensator according to the position, the movement speed and the tracking error of the power line-disconnecting robot, and acquiring an estimated value of unknown dynamic according to the unknown dynamic compensator.
In the present invention, the unknown dynamics include friction and the gravity to which the robot is subjected.
Further, according to an embodiment of the present invention, the unknown dynamic compensator may be designed using the following formula:
wherein ,
for an estimate of unknown dynamics, k e V is the motion speed of the power line-splitting robot, q and n are respectively a first design parameter and a second design parameter which are greater than 0, q and n can be obtained in advance according to relevant experiments, and generally q is 4 and n is 0.25, tanh (e) can be obtained 1 ) The tangent value of the tracking error of the position of the power disconnecting and switching robot.
And S3, designing a tracking controller according to the composite tracking error and the estimation value of the unknown dynamic state.
Further, according to an embodiment of the present invention, the following formula is used to design the tracking controller:
wherein u is tracking controlThe output of the controller, m is the mass of the power line-changing robot,
in order to accelerate the reference position of the power disconnecting and switching robot, j is a controller parameter, the value of j should be as large as possible so as to enable the system to obtain a faster response speed, and j can be 2m/p, p is a constant greater than 0,
for an estimate of unknown dynamics, e 1 For the tracking error of the position of the power line-removing and line-changing robot, r is the composite tracking error, k b The difference value of the upper bound of the movement position of the power line-changing robot and the upper bound of the reference position signal is obtained.
The output of the tracking controller can be obtained according to the tracking controller.
And S4, using the output of the tracking controller as the input force in the advancing direction of the power line-changing robot to control the motion of the power line-changing robot.
In summary, according to the motion control method of the electric power wire-disconnecting and replacing robot in the embodiment of the present invention, by estimating the unknown dynamics of the electric power wire-disconnecting and replacing robot, the friction force and the gravity can be effectively compensated, so that the motion control precision of the electric power wire-disconnecting and replacing robot is improved, and the tracking controller is designed without knowing the accurate model parameters, thereby improving the robustness of the uncertain parameters, expanding the application range, and facilitating the engineering application.
Corresponding to the motion control method of the electric power wire-removing robot, the invention also provides a motion control device of the electric power wire-removing robot. The embodiment of the motion control apparatus of the present invention corresponds to the embodiment of the motion control method described above, and for the content not disclosed in the embodiment of the apparatus, reference may be made to the embodiment of the method described above, which is not described in detail herein.
Fig. 3 is a block diagram schematically illustrating a motion control apparatus of a power line-disconnecting robot according to an embodiment of the present invention, as shown in fig. 3, the apparatus including: the device comprises a first acquisition module 1, a second acquisition module 2, a design module 3 and a control module 4.
The first acquisition module 1 is used for acquiring a composite tracking error of the electric power line-changing robot according to the position limitation condition of the electric power line-changing robot; the second acquisition module 2 is used for designing an unknown dynamic compensator according to the position, the movement speed and the tracking error of the electric power line-changing robot and acquiring an estimated value of unknown dynamics according to the unknown dynamic compensator; the design module 3 is used for designing a tracking controller according to the composite tracking error and the estimation value of unknown dynamic; the control module 4 is used for controlling the motion of the power line-changing robot by using the output of the tracking controller as the input force in the advancing direction of the power line-changing robot.
According to an embodiment of the present invention, the first obtaining module 1 obtains the composite tracking error of the power line-disconnecting robot specifically according to the following formula:
where r is the composite tracking error, p is a constant greater than 0, e 1 Error in tracking the position of the robot for changing the machine for removing electric power, e 2 For speed tracking error of power-line-changing robot, k b And the difference value of the upper bound of the motion position of the power line-changing robot and the upper bound of the reference position signal is obtained.
According to an embodiment of the present invention, the second obtaining module 2 specifically adopts the following formula to design the unknown dynamic compensator:
wherein ,
for an estimate of unknown dynamics, k e V is the movement speed of the power line-changing robot, and q and n are respectively largeFirst and second design parameters, tanh (e), at 0 1 ) The tangent value of the tracking error of the position of the power disconnecting and switching robot.
According to an embodiment of the present invention, the design module 3 specifically designs the tracking controller using the following formula:
wherein u is the output of the tracking controller, m is the mass of the power line-changing robot,
is the acceleration of the reference position of the power disconnecting and switching robot, j is a controller parameter, p is a constant larger than 0,
for an estimate of unknown dynamics, e 1 For the tracking error of the position of the power line-disconnecting and-changing robot, r is the composite tracking error, k b The difference value of the upper bound of the movement position of the power line-changing robot and the upper bound of the reference position signal is obtained.
According to the motion control device of the electric power wire-removing and wire-replacing robot, disclosed by the embodiment of the invention, the unknown dynamic state of the electric power wire-removing and wire-replacing robot is estimated, so that the friction force and the gravity can be effectively compensated, the motion control precision of the electric power wire-removing and wire-replacing robot is improved, accurate model parameters are not required to be known when a tracking controller is designed, the robustness of uncertain parameters is improved, the application range is expanded, the electric power wire-removing and wire-replacing robot is more convenient to apply to engineering, in addition, the adverse effect of external disturbance can be overcome, the position tracking error of the robot can be ensured to be in a bounded range under the condition of external disturbance, and the position of the electric power wire-removing and wire-replacing robot can be ensured to accurately track a given position.
In the description of the specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Moreover, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without being mutually inconsistent. In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. A motion control method of an electric power wire-disconnecting robot is characterized by comprising the following steps:
acquiring a composite tracking error of the electric power line-changing robot according to the position limitation condition of the electric power line-changing robot;
designing an unknown dynamic compensator according to the position, the movement speed and the tracking error of the electric power wire-removing and replacing robot, and acquiring an estimated value of unknown dynamic according to the unknown dynamic compensator;
designing a tracking controller according to the composite tracking error and the estimation value of the unknown dynamic state;
and the output of the tracking controller is used as the input force in the advancing direction of the electric power wire-disconnecting robot to carry out motion control on the electric power wire-disconnecting robot.
2. The method for controlling the movement of the electric power disconnection robot according to claim 1, wherein the composite tracking error of the electric power disconnection robot is obtained according to the following formula:
where r is the composite tracking error, p is a constant greater than 0, e 1 Tracking error of position of robot for power disconnecting and changing line, e 2 For speed tracking error of power-line-changing robot, k b And the difference value of the upper bound of the motion position of the power line-changing robot and the upper bound of the reference position signal is obtained.
3. The method for controlling the motion of the power line-disconnecting robot according to claim 2, wherein the unknown dynamic compensator is designed using the following formula:
wherein ,
for an estimate of said unknown dynamics, k e V is the motion speed of the power line-stripping robot, q and n are respectively a first design parameter and a second design parameter which are greater than 0, tanh (e) 1 ) The tangent value of the tracking error of the position of the power disconnecting and switching robot.
4. The motion control method of the power line-disconnecting robot according to claim 2, wherein the tracking controller is designed using the following formula:
wherein u is the output of the tracking controller, m is the mass of the power line-changing robot,
the acceleration of the reference position is taken for the power unwinder robot. p is a constant greater than 0, j is a controller gain parameter,
for an estimate of said unknown dynamics, e 1 For the tracking error of the position of the power take-off and take-over robot, r is the composite tracking error, k b The difference value of the upper bound of the movement position of the power line-changing robot and the upper bound of the reference position signal is obtained.
5. A motion control device of an electric power wire-disconnecting robot, characterized by comprising:
the first acquisition module is used for acquiring a composite tracking error of the electric power line-changing robot according to the position limitation condition of the electric power line-changing robot;
the second acquisition module is used for designing an unknown dynamic compensator according to the position, the movement speed and the tracking error of the electric power line-changing robot and acquiring an estimated value of unknown dynamic according to the unknown dynamic compensator;
a design module for designing a tracking controller based on the composite tracking error and the estimated value of the unknown dynamics;
and the control module is used for controlling the motion of the electric power wire-removing robot by taking the output of the tracking controller as the input force in the advancing direction of the electric power wire-removing robot.
6. The motion control apparatus of an electric power disconnecting link robot according to claim 5, wherein the first obtaining module obtains the composite tracking error of the electric power disconnecting link robot specifically according to the following formula:
where r is the composite tracking error, p is a constant greater than 0, e 1 Tracking error of position of robot for power disconnecting and changing line, e 2 For speed tracking error of power-line-changing robot, k b The difference value of the upper bound of the movement position of the power line-changing robot and the upper bound of the reference position signal is obtained.
7. The motion control apparatus of the power line-swapping robot of claim 6, wherein the second obtaining module is configured to design the unknown dynamic compensator by specifically using the following formula:
wherein ,
for an estimate of said unknown dynamics, k e V is the movement speed of the power line-changing robot, q and n are respectively a first design parameter and a second design parameter which are more than 0, tanh (e) 1 ) And the tangent value of the tracking error of the position of the power disconnecting and switching robot is obtained.
8. The motion control apparatus of the power line stripping robot according to claim 7, wherein the design module designs the tracking controller by using the following formula:
wherein u is the output of the tracking controller, m is the mass of the power line-changing robot,
is the acceleration of the reference position of the power coil dismounting and changing robot, j is a controller parameter, p is a constant larger than 0,
for an estimate of said unknown dynamics, e 1 For the tracking error of the position of the power line-removing and line-changing robot, r is the composite tracking error, k b The difference value of the upper bound of the movement position of the power line-changing robot and the upper bound of the reference position signal is obtained.
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